Final Project Submission 1

Group #10
THE BOT

Figure 1. The 2D drawing of THE BOT and the Frames

DH parameters
 I Alpha(i-1) a(i-1) di Theta i
1 0 0 0 Theta 1
2 -90 0 D2 Theta 2
3 -90 L1 0 Theta 3
4 90 0 D1 Theta 4
5 -90 L2 0 Theta 5
6 90 L3 0 Theta 6
7 0 L4 0 0

We have take frame 7 as H for our calculations

Transformation Matrix

T01 =

[ cos(Th1), -sin(Th1), 0, 0]
[ sin(Th1), cos(Th1), 0, 0]
[ 0, 0, cos(alp0), 0]
[ 0, 0, 0, 1]

T12 =

[ cos(Th2), -sin(Th2), 0, 0]
[ -(4035888341267763*sin(Th2))/9007199254740992, -(4035888341267763*cos(Th2))/9007199254740992, 4026203041061939/4503599627370496,
(4026203041061939*d2)/4503599627370496]
[ -(4026203041061939*sin(Th2))/4503599627370496, -(4026203041061939*cos(Th2))/4503599627370496, -4035888341267763/9007199254740992, -
(4035888341267763*d2)/9007199254740992]
[ 0, 0, 0, 1]

T23 =

[ cos(Th3), -sin(Th3), 0, L1]

[ -(4035888341267763*sin(Th3))/9007199254740992, -(4035888341267763*cos(Th3))/9007199254740992, 4026203041061939/4503599627370496, 0]
[ -(4026203041061939*sin(Th3))/4503599627370496, -(4026203041061939*cos(Th3))/4503599627370496, -4035888341267763/9007199254740992, 0]
[ 0, 0, 0, 1]

T34 =

[ 1, 0, 0, 0]
[ 0, -4035888341267763/9007199254740992, -4026203041061939/4503599627370496, -(4026203041061939*d1)/4503599627370496]
[ 0, 4026203041061939/4503599627370496, -4035888341267763/9007199254740992, -(4035888341267763*d1)/9007199254740992]
[ 0, 0, 0, 1]

T45 =

[ cos(Th4), -sin(Th4), 0, L2]

[ cos(Th4)*sin(Th4), -(4035888341267763*cos(Th4))/9007199254740992, 4026203041061939/4503599627370496, 0]
[ -(4026203041061939*sin(Th4))/4503599627370496, -(4026203041061939*cos(Th4))/4503599627370496, -4035888341267763/9007199254740992, 0]
[ 0, 0, 0, 1]

T56 =

[ cos(Th5), -sin(Th5), 0, L3]

[ -(4035888341267763*sin(Th5))/9007199254740992, -(4035888341267763*cos(Th5))/9007199254740992, -4026203041061939/4503599627370496, 0]
[ (4026203041061939*sin(Th5))/4503599627370496, (4026203041061939*cos(Th5))/4503599627370496, -4035888341267763/9007199254740992, 0]
[ 0, 0, 0, 1]

T6H =
[ 1, 0, 0, L4]
[ 0, 1, 0, 0]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

[ cos(Th1), -sin(Th1), 0, 0]
[ sin(Th1), cos(Th1), 0, 0]
[ 0, 0, cos(alp0), 0]
[ 0, 0, 0, 1]

[ cos(Th2), -sin(Th2), 0, 0]
[ -(4035888341267763*sin(Th2))/9007199254740992, -(4035888341267763*cos(Th2))/9007199254740992, 4026203041061939/4503599627370496,
(4026203041061939*d2)/4503599627370496]
[ -(4026203041061939*sin(Th2))/4503599627370496, -(4026203041061939*cos(Th2))/4503599627370496, -4035888341267763/9007199254740992, -
(4035888341267763*d2)/9007199254740992]
[ 0, 0, 0, 1]

[ cos(Th3), -sin(Th3), 0, L1]

[ -(4035888341267763*sin(Th3))/9007199254740992, -(4035888341267763*cos(Th3))/9007199254740992, 4026203041061939/4503599627370496, 0]
[ -(4026203041061939*sin(Th3))/4503599627370496, -(4026203041061939*cos(Th3))/4503599627370496, -4035888341267763/9007199254740992, 0]
[ 0, 0, 0, 1]

[ 1, 0, 0, 0]
[ 0, -4035888341267763/9007199254740992, -4026203041061939/4503599627370496, -(4026203041061939*d1)/4503599627370496]
[ 0, 4026203041061939/4503599627370496, -4035888341267763/9007199254740992, -(4035888341267763*d1)/9007199254740992]
[ 0, 0, 0, 1]

[ cos(Th4), -sin(Th4), 0, L2]

[ cos(Th4)*sin(Th4), -(4035888341267763*cos(Th4))/9007199254740992, 4026203041061939/4503599627370496, 0]
[ -(4026203041061939*sin(Th4))/4503599627370496, -(4026203041061939*cos(Th4))/4503599627370496, -4035888341267763/9007199254740992, 0]
[ 0, 0, 0, 1]

[ cos(Th5), -sin(Th5), 0, L3]

[ -(4035888341267763*sin(Th5))/9007199254740992, -(4035888341267763*cos(Th5))/9007199254740992, -4026203041061939/4503599627370496, 0]
[ (4026203041061939*sin(Th5))/4503599627370496, (4026203041061939*cos(Th5))/4503599627370496, -4035888341267763/9007199254740992, 0]
[ 0, 0, 0, 1]

[ 1, 0, 0, L4]
[ 0, 1, 0, 0]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

-- -- sin(Th5) #1 4026203041061939
| | ---------------------------- + cos(Th5) #4
-- -- 4503599627370496

sin(Th5) #7 4035888341267763
+ ----------------------------,
9007199254740992

cos(Th5) #1 4026203041061939
---------------------------- - sin(Th5) #4
4503599627370496

cos(Th5) #7 4035888341267763
+ ----------------------------,
9007199254740992

sin(Th4) #12 4026203041061939

-----------------------------
4503599627370496

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

sin(Th1

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

cos(Th4) #11 16210310927856405661316834439721

- ---------------------------------------------
20282409603651670423947251286016

cos(Th4) #10 16249305912998692073837066972457

+ ---------------------------------------------
40564819207303340847894502572032

13183003132099141278911421777824889970963823670951585237\
83371221

cos(Th1)

sin(Th2

))/

32910091146424120843099383651147010099654717312671597266\
97218048

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

cos(Th2)

sin(Th1

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

4026203041061939 d2 sin(Th1)
, L1 #19 + L2 #12 - ----------------------------
4503599627370496

/ / cos(Th3) #20 4035888341267763

- | d1 | -----------------------------
\ \ 9007199254740992

- sin(Th3) #19

16210310927856405661316834439721 cos(Th3) sin(Th1) \

+ -------------------------------------------------- |
20282409603651670423947251286016 /

\
4026203041061939 |/4503599627370496
/

/ / 16249305912998692073837066972457 sin(Th1)
- | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032

4026203041061939 cos(Th1) sin(Th2)

- ----------------------------------
4503599627370496

16249305912998692073837066972457 cos(Th2) sin(Th1) \

+ -------------------------------------------------- |
40564819207303340847894502572032 /

\ --
4035888341267763 |/9007199254740992 + L3 #4 |,
/ --
-- sin(Th5) #2 4026203041061939
| - ----------------------------
-- 4503599627370496

sin(Th5) #8 4035888341267763
- ---------------------------- - cos(Th5) #5,
9007199254740992

cos(Th5) #8 4035888341267763
sin(Th5) #5 - ----------------------------
9007199254740992

cos(Th5) #2 4026203041061939
- ----------------------------,
4503599627370496

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

cos(Th1

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

cos(Th4) #13 16249305912998692073837066972457

- ---------------------------------------------
40564819207303340847894502572032

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

cos(Th1)

cos(Th2

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

13183003132099141278911421777824889970963823670951585237\
83371221

sin(Th1)

sin(Th2

))/

32910091146424120843099383651147010099654717312671597266\
97218048

sin(Th4) #15 4026203041061939

- -----------------------------
4503599627370496

cos(Th4) #14 16210310927856405661316834439721

+ ---------------------------------------------,
20282409603651670423947251286016
4026203041061939 d2 cos(Th1)
---------------------------- - L3 #5 - L2 #15 - L1 #21
4503599627370496

/ / cos(Th3) #22 4035888341267763

- | d1 | -----------------------------
\ \ 9007199254740992

+ sin(Th3) #21

16210310927856405661316834439721 cos(Th1) cos(Th3) \

- -------------------------------------------------- |
20282409603651670423947251286016 /

\
4026203041061939 |/4503599627370496
/

/ / 16249305912998692073837066972457 cos(Th1)
+ | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032

16249305912998692073837066972457 cos(Th1) cos(Th2)

+ --------------------------------------------------
40564819207303340847894502572032

4026203041061939 sin(Th1) sin(Th2) \

+ ---------------------------------- |
4503599627370496 /

\ --
4035888341267763 |/9007199254740992 |,
/ --

-- sin(Th5) #3 4026203041061939
| cos(Th5) #6 + ----------------------------
-- 4503599627370496

sin(Th5) #9 4035888341267763
- ----------------------------,
9007199254740992

cos(Th5) #3 4026203041061939
---------------------------- - sin(Th5) #6
4503599627370496

cos(Th5) #9 4035888341267763
- ----------------------------,
9007199254740992

sin(Th4) #18 4026203041061939

-----------------------------
4503599627370496

cos(Th4) #17 16210310927856405661316834439721

- ---------------------------------------------
20282409603651670423947251286016

cos(Th4) #16 16249305912998692073837066972457

- ---------------------------------------------
40564819207303340847894502572032

53333117132678534558619263910602705986458852775533384911\
75062620083986357390191

cos(alp0

))/

59285549689505892056868344324448208820874232148807968788\
202283012051522375647232
 +

53077447300786629361640884243186692920081644424884584122\
69187059026701291057519

cos(Th2)

cos(alp0

))/

14821387422376473014217086081112052205218558037201992197\
050570753012880593911808

/
, L3 #6 - | d1
\

/ 16288394703181055420774063024169 cos(alp0)
| ------------------------------------------
\ 81129638414606681695789005144064

16210310927856405661316834439721 cos(Th2) cos(alp0) \

- --------------------------------------------------- |
20282409603651670423947251286016 /

\
4035888341267763 |/9007199254740992
/

4035888341267763 d2 cos(alp0)
- ----------------------------- + L2 #18
9007199254740992

/
- | d1
\

/ 16249305912998692073837066972457 cos(Th3) cos(alp0)

| ---------------------------------------------------
\ 40564819207303340847894502572032

+ (16249305912998692073837066972457

cos(Th2) cos(Th3)

cos(alp0))/40564819207303340847894502572032

4026203041061939 cos(alp0) sin(Th2) sin(Th3) \

+ -------------------------------------------- |
4503599627370496 /

\
4026203041061939 |/4503599627370496
/

4026203041061939 L1 cos(alp0) sin(Th2) --

- -------------------------------------- |,
4503599627370496 --

--
[0, 0, 0, 1] |
--

where

#1 ==

(
 13183003132099141278911421777824889970963823670951585\
23783371221

sin(Th1

))/

32910091146424120843099383651147010099654717312671597\
26697218048

- (326644396905144914722166209697360308187274519767

cos(Th1)

sin(Th2

))/365375409332725729550921208179070754913983135744

13183003132099141278911421777824889970963823670951585\
23783371221

cos(Th2)

sin(Th1

))/

32910091146424120843099383651147010099654717312671597\
26697218048

#2 ==

13183003132099141278911421777824889970963823670951585\
23783371221

cos(Th1

))/

32910091146424120843099383651147010099654717312671597\
26697218048

13183003132099141278911421777824889970963823670951585\
23783371221

cos(Th1)

cos(Th2

))/

32910091146424120843099383651147010099654717312671597\
26697218048

+ (326644396905144914722166209697360308187274519767

sin(Th1)

sin(Th2

))/365375409332725729550921208179070754913983135744

#3 ==
 (

13214715726234736936597392361863803708108859967897469\
69864607957

cos(alp0

))/

65820182292848241686198767302294020199309434625343194\
53394436096

13151366641653374714999790344639320153587466691165216\
07926848213

cos(Th2)

cos(alp0

))/

16455045573212060421549691825573505049827358656335798\
63348609024

sin(Th4) #11 4026203041061939

#4 == ----------------------------- + cos(Th4) #12
4503599627370496

+ cos(Th4) sin(Th4) #10

sin(Th4) #14 4026203041061939

#5 == ----------------------------- + cos(Th4) #15
4503599627370496

+ cos(Th4) sin(Th4) #13

sin(Th4) #17 4026203041061939

#6 == ----------------------------- + cos(Th4) #18
4503599627370496

- cos(Th4) sin(Th4) #16

cos(Th4) #11 4026203041061939

#7 == sin(Th4) #12 - -----------------------------
4503599627370496

cos(Th4) #10 4035888341267763

+ -----------------------------
9007199254740992

cos(Th4) #13 4035888341267763

#8 == ----------------------------- + sin(Th4) #15
9007199254740992

cos(Th4) #14 4026203041061939

- -----------------------------
4503599627370496

cos(Th4) #17 4026203041061939

#9 == -----------------------------
4503599627370496

cos(Th4) #16 4035888341267763

+ ----------------------------- - sin(Th4) #18
9007199254740992

#10 == (65423004882061081215650621571388430732944014123
 sin(Th1

))/182687704666362864775460604089535377456991567872

cos(Th3) #20 16288394703181055420774063024169

- ---------------------------------------------
81129638414606681695789005144064

sin(Th3) #19 4035888341267763

+ -----------------------------
9007199254740992

16210310927856405661316834439721 cos(Th1) sin(Th2)

- --------------------------------------------------
20282409603651670423947251286016

+ (65423004882061081215650621571388430732944014123

cos(Th2)

sin(Th1

))/182687704666362864775460604089535377456991567872

- (65423004882061081215650621571388430732944014123

cos(Th3)

sin(Th1

))/182687704666362864775460604089535377456991567872

#11 == (65580384287964744588230398513542208987583003691

sin(Th1

))/365375409332725729550921208179070754913983135744

cos(Th3) #20 16249305912998692073837066972457

+ ---------------------------------------------
40564819207303340847894502572032

sin(Th3) #19 4026203041061939

- -----------------------------
4503599627370496

16249305912998692073837066972457 cos(Th1) sin(Th2)

- --------------------------------------------------
40564819207303340847894502572032

+ (65580384287964744588230398513542208987583003691

cos(Th2)

sin(Th1

))/365375409332725729550921208179070754913983135744

+ (65266003154295042533483952795954524799922879019

cos(Th3)

sin(Th1

))/91343852333181432387730302044767688728495783936

sin(Th3) #20 4035888341267763

#12 == cos(Th3) #19 + -----------------------------
9007199254740992

16210310927856405661316834439721 sin(Th1) sin(Th3)

+ --------------------------------------------------
20282409603651670423947251286016

#13 == (65423004882061081215650621571388430732944014123
 cos(Th1

))/182687704666362864775460604089535377456991567872

cos(Th3) #22 16288394703181055420774063024169

+ ---------------------------------------------
81129638414606681695789005144064

sin(Th3) #21 4035888341267763

+ -----------------------------
9007199254740992

+ (65423004882061081215650621571388430732944014123

cos(Th1)

cos(Th2

))/182687704666362864775460604089535377456991567872

- (65423004882061081215650621571388430732944014123

cos(Th1)

cos(Th3

))/182687704666362864775460604089535377456991567872

16210310927856405661316834439721 sin(Th1) sin(Th2)

+ --------------------------------------------------
20282409603651670423947251286016

#14 == (65580384287964744588230398513542208987583003691

cos(Th1

))/365375409332725729550921208179070754913983135744

cos(Th3) #22 16249305912998692073837066972457

- ---------------------------------------------
40564819207303340847894502572032

sin(Th3) #21 4026203041061939

- -----------------------------
4503599627370496

+ (65580384287964744588230398513542208987583003691

cos(Th1)

cos(Th2

))/365375409332725729550921208179070754913983135744

+ (65266003154295042533483952795954524799922879019

cos(Th1)

cos(Th3

))/91343852333181432387730302044767688728495783936

16249305912998692073837066972457 sin(Th1) sin(Th2)

+ --------------------------------------------------
40564819207303340847894502572032

sin(Th3) #22 4035888341267763

#15 == cos(Th3) #21 - -----------------------------
9007199254740992

16210310927856405661316834439721 cos(Th1) sin(Th3)

+ --------------------------------------------------
20282409603651670423947251286016
#16 == (65266003154295042533483952795954524799922879019

cos(Th2)

cos(alp0

))/91343852333181432387730302044767688728495783936

- (65580384287964744588230398513542208987583003691

cos(alp0

))/365375409332725729550921208179070754913983135744

+ (65580384287964744588230398513542208987583003691

cos(Th3)

cos(alp0

))/365375409332725729550921208179070754913983135744

+ (65580384287964744588230398513542208987583003691

cos(Th2) cos(Th3)

cos(alp0

))/365375409332725729550921208179070754913983135744

+ (16249305912998692073837066972457

cos(alp0) sin(Th2)

sin(Th3))/40564819207303340847894502572032

#17 == (65738142280536006615684759097075593751169563947

cos(alp0

))/730750818665451459101842416358141509827966271488

- (65423004882061081215650621571388430732944014123

cos(Th2)

cos(alp0

))/182687704666362864775460604089535377456991567872

+ (65423004882061081215650621571388430732944014123

cos(Th3)

cos(alp0

))/182687704666362864775460604089535377456991567872

+ (65423004882061081215650621571388430732944014123

cos(Th2) cos(Th3)

cos(alp0

))/182687704666362864775460604089535377456991567872

+ (16210310927856405661316834439721

cos(alp0) sin(Th2)

sin(Th3))/20282409603651670423947251286016

#18 ==

16249305912998692073837066972457 cos(alp0) sin(Th3)

 ---------------------------------------------------
40564819207303340847894502572032

+ (16249305912998692073837066972457

cos(Th2) cos(alp0)

sin(Th3))/40564819207303340847894502572032

4026203041061939 cos(Th3) cos(alp0) sin(Th2)

- --------------------------------------------
4503599627370496

#19 == cos(Th1)

4035888341267763 sin(Th1) sin(Th2)

cos(Th2) + ----------------------------------
9007199254740992

#20 == cos(Th1)

4035888341267763 cos(Th2) sin(Th1)

sin(Th2) - ----------------------------------
9007199254740992

4035888341267763 cos(Th1) sin(Th2)

#21 == ----------------------------------
9007199254740992

- cos(Th2) sin(Th1)

4035888341267763 cos(Th1) cos(Th2)

#22 == ----------------------------------
9007199254740992

+ sin(Th1) sin(Th2)

-- -- cos(Th5) #8 4026203041061939
| | #1, ----------------------------
-- -- 4503599627370496

cos(Th5) #7 4035888341267763
- sin(Th5) #6 + ----------------------------,
9007199254740992

sin(Th4) #16 4026203041061939

-----------------------------
4503599627370496

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

sin(Th1

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

cos(Th4) #15 16210310927856405661316834439721

- ---------------------------------------------
20282409603651670423947251286016

cos(Th4) #14 16249305912998692073837066972457

+ ---------------------------------------------
40564819207303340847894502572032

(
 13183003132099141278911421777824889970963823670951585237\
83371221

cos(Th1)

sin(Th2

))/

32910091146424120843099383651147010099654717312671597266\
97218048

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

cos(Th2)

sin(Th1

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

4026203041061939 d2 sin(Th1)
, L4 #1 + L1 #23 + L2 #16 - ----------------------------
4503599627370496

/ / cos(Th3) #24 4035888341267763

- | d1 | -----------------------------
\ \ 9007199254740992

- sin(Th3) #23

16210310927856405661316834439721 cos(Th3) sin(Th1) \

+ -------------------------------------------------- |
20282409603651670423947251286016 /

\
4026203041061939 |/4503599627370496
/

/ / 16249305912998692073837066972457 sin(Th1)
- | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032

4026203041061939 cos(Th1) sin(Th2)

- ----------------------------------
4503599627370496

16249305912998692073837066972457 cos(Th2) sin(Th1) \

+ -------------------------------------------------- |
40564819207303340847894502572032 /

\ --
4035888341267763 |/9007199254740992 + L3 #6 |,
/ --

--
| - #5 - #4 - cos(Th5) #2, sin(Th5) #2
--

cos(Th5) #12 4035888341267763

- -----------------------------
9007199254740992

cos(Th5) #13 4026203041061939

- -----------------------------,
4503599627370496
(

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

cos(Th1

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

cos(Th4) #20 16249305912998692073837066972457

- ---------------------------------------------
40564819207303340847894502572032

53205128643735327611330698691122124802916450499668509554\
44580052312641189248623

cos(Th1)

cos(Th2

))/

29642774844752946028434172162224104410437116074403984394\
101141506025761187823616

13183003132099141278911421777824889970963823670951585237\
83371221

sin(Th1)

sin(Th2

))/

32910091146424120843099383651147010099654717312671597266\
97218048

sin(Th4) #22 4026203041061939

- -----------------------------
4503599627370496

cos(Th4) #21 16210310927856405661316834439721

+ ---------------------------------------------,
20282409603651670423947251286016

4026203041061939 d2 cos(Th1)
---------------------------- - L3 #2 - L4
4503599627370496

(#5 + #4 + cos(Th5) #2) - L2 #22 - L1 #25

/ / cos(Th3) #26 4035888341267763

- | d1 | -----------------------------
\ \ 9007199254740992

+ sin(Th3) #25

16210310927856405661316834439721 cos(Th1) cos(Th3) \

- -------------------------------------------------- |
20282409603651670423947251286016 /

\
 4026203041061939 |/4503599627370496
/

/ / 16249305912998692073837066972457 cos(Th1)
+ | d1 | -----------------------------------------
\ \ 40564819207303340847894502572032

16249305912998692073837066972457 cos(Th1) cos(Th2)

+ --------------------------------------------------
40564819207303340847894502572032

4026203041061939 sin(Th1) sin(Th2) \

+ ---------------------------------- |
4503599627370496 /

\ --
4035888341267763 |/9007199254740992 |,
/ --

-- cos(Th5) #11 4026203041061939

| #3, ----------------------------- - sin(Th5) #9
-- 4503599627370496

cos(Th5) #10 4035888341267763

- -----------------------------,
9007199254740992

sin(Th4) #19 4026203041061939

-----------------------------
4503599627370496

cos(Th4) #18 16210310927856405661316834439721

- ---------------------------------------------
20282409603651670423947251286016

cos(Th4) #17 16249305912998692073837066972457

- ---------------------------------------------
40564819207303340847894502572032

53333117132678534558619263910602705986458852775533384911\
75062620083986357390191

cos(alp0

))/

59285549689505892056868344324448208820874232148807968788\
202283012051522375647232

53077447300786629361640884243186692920081644424884584122\
69187059026701291057519

cos(Th2)

cos(alp0

))/

14821387422376473014217086081112052205218558037201992197\
050570753012880593911808

4035888341267763 d2 cos(alp0)
, L4 #3 - -----------------------------
9007199254740992

/ / 16288394703181055420774063024169 cos(alp0)
- | d1 | ------------------------------------------
 \ \ 81129638414606681695789005144064

16210310927856405661316834439721 cos(Th2) cos(alp0) \

- --------------------------------------------------- |
20282409603651670423947251286016 /

\
4035888341267763 |/9007199254740992 + L3 #9 + L2 #19
/

/
- | d1
\

/ 16249305912998692073837066972457 cos(Th3) cos(alp0)

| ---------------------------------------------------
\ 40564819207303340847894502572032

+ (16249305912998692073837066972457

cos(Th2) cos(Th3)

cos(alp0))/40564819207303340847894502572032

4026203041061939 cos(alp0) sin(Th2) sin(Th3) \

+ -------------------------------------------- |
4503599627370496 /

\
4026203041061939 |/4503599627370496
/

4026203041061939 L1 cos(alp0) sin(Th2) --

- -------------------------------------- |,
4503599627370496 --

--
[0, 0, 0, 1] |
--

where

sin(Th5) #8 4026203041061939
#1 == ---------------------------- + cos(Th5) #6
4503599627370496

sin(Th5) #7 4035888341267763
+ ----------------------------
9007199254740992

sin(Th4) #21 4026203041061939

#2 == ----------------------------- + cos(Th4) #22
4503599627370496

+ cos(Th4) sin(Th4) #20

sin(Th5) #11 4026203041061939

#3 == cos(Th5) #9 + -----------------------------
4503599627370496

sin(Th5) #10 4035888341267763

- -----------------------------
9007199254740992

sin(Th5) #12 4035888341267763

#4 == -----------------------------
9007199254740992

sin(Th5) #13 4026203041061939

#5 == -----------------------------
4503599627370496

sin(Th4) #15 4026203041061939

#6 == ----------------------------- + cos(Th4) #16
4503599627370496
 + cos(Th4) sin(Th4) #14

cos(Th4) #15 4026203041061939

#7 == sin(Th4) #16 - -----------------------------
4503599627370496

cos(Th4) #14 4035888341267763

+ -----------------------------
9007199254740992

#8 ==

13183003132099141278911421777824889970963823670951585\
23783371221

sin(Th1

))/

32910091146424120843099383651147010099654717312671597\
26697218048

- (326644396905144914722166209697360308187274519767

cos(Th1)

sin(Th2

))/365375409332725729550921208179070754913983135744

13183003132099141278911421777824889970963823670951585\
23783371221

cos(Th2)

sin(Th1

))/

32910091146424120843099383651147010099654717312671597\
26697218048

sin(Th4) #18 4026203041061939

#9 == ----------------------------- + cos(Th4) #19
4503599627370496

- cos(Th4) sin(Th4) #17

cos(Th4) #18 4026203041061939

#10 == -----------------------------
4503599627370496

cos(Th4) #17 4035888341267763

+ ----------------------------- - sin(Th4) #19
9007199254740992

#11 ==

13214715726234736936597392361863803708108859967897469\
69864607957

cos(alp0
 ))/

65820182292848241686198767302294020199309434625343194\
53394436096

13151366641653374714999790344639320153587466691165216\
07926848213

cos(Th2)

cos(alp0

))/

16455045573212060421549691825573505049827358656335798\
63348609024

cos(Th4) #20 4035888341267763

#12 == ----------------------------- + sin(Th4) #22
9007199254740992

cos(Th4) #21 4026203041061939

- -----------------------------
4503599627370496

#13 ==

13183003132099141278911421777824889970963823670951585\
23783371221

cos(Th1

))/

32910091146424120843099383651147010099654717312671597\
26697218048

13183003132099141278911421777824889970963823670951585\
23783371221

cos(Th1)

cos(Th2

))/

32910091146424120843099383651147010099654717312671597\
26697218048

+ (326644396905144914722166209697360308187274519767

sin(Th1)

sin(Th2

))/365375409332725729550921208179070754913983135744

#14 == (65423004882061081215650621571388430732944014123

sin(Th1

))/182687704666362864775460604089535377456991567872
 cos(Th3) #24 16288394703181055420774063024169
- ---------------------------------------------
81129638414606681695789005144064

sin(Th3) #23 4035888341267763

+ -----------------------------
9007199254740992

16210310927856405661316834439721 cos(Th1) sin(Th2)

- --------------------------------------------------
20282409603651670423947251286016

+ (65423004882061081215650621571388430732944014123

cos(Th2)

sin(Th1

))/182687704666362864775460604089535377456991567872

- (65423004882061081215650621571388430732944014123

cos(Th3)

sin(Th1

))/182687704666362864775460604089535377456991567872

#15 == (65580384287964744588230398513542208987583003691

sin(Th1

))/365375409332725729550921208179070754913983135744

cos(Th3) #24 16249305912998692073837066972457

+ ---------------------------------------------
40564819207303340847894502572032

sin(Th3) #23 4026203041061939

- -----------------------------
4503599627370496

16249305912998692073837066972457 cos(Th1) sin(Th2)

- --------------------------------------------------
40564819207303340847894502572032

+ (65580384287964744588230398513542208987583003691

cos(Th2)

sin(Th1

))/365375409332725729550921208179070754913983135744

+ (65266003154295042533483952795954524799922879019

cos(Th3)

sin(Th1

))/91343852333181432387730302044767688728495783936

sin(Th3) #24 4035888341267763

#16 == cos(Th3) #23 + -----------------------------
9007199254740992

16210310927856405661316834439721 sin(Th1) sin(Th3)

+ --------------------------------------------------
20282409603651670423947251286016

#17 == (65266003154295042533483952795954524799922879019

cos(Th2)
 cos(alp0

))/91343852333181432387730302044767688728495783936

- (65580384287964744588230398513542208987583003691

cos(alp0

))/365375409332725729550921208179070754913983135744

+ (65580384287964744588230398513542208987583003691

cos(Th3)

cos(alp0

))/365375409332725729550921208179070754913983135744

+ (65580384287964744588230398513542208987583003691

cos(Th2) cos(Th3)

cos(alp0

))/365375409332725729550921208179070754913983135744

+ (16249305912998692073837066972457

cos(alp0) sin(Th2)

sin(Th3))/40564819207303340847894502572032

#18 == (65738142280536006615684759097075593751169563947

cos(alp0

))/730750818665451459101842416358141509827966271488

- (65423004882061081215650621571388430732944014123

cos(Th2)

cos(alp0

))/182687704666362864775460604089535377456991567872

+ (65423004882061081215650621571388430732944014123

cos(Th3)

cos(alp0

))/182687704666362864775460604089535377456991567872

+ (65423004882061081215650621571388430732944014123

cos(Th2) cos(Th3)

cos(alp0

))/182687704666362864775460604089535377456991567872

+ (16210310927856405661316834439721

cos(alp0) sin(Th2)

sin(Th3))/20282409603651670423947251286016

#19 ==

16249305912998692073837066972457 cos(alp0) sin(Th3)

---------------------------------------------------
40564819207303340847894502572032

+ (16249305912998692073837066972457
 cos(Th2) cos(alp0)

sin(Th3))/40564819207303340847894502572032

4026203041061939 cos(Th3) cos(alp0) sin(Th2)

- --------------------------------------------
4503599627370496

#20 == (65423004882061081215650621571388430732944014123

cos(Th1

))/182687704666362864775460604089535377456991567872

cos(Th3) #26 16288394703181055420774063024169

+ ---------------------------------------------
81129638414606681695789005144064

sin(Th3) #25 4035888341267763

+ -----------------------------
9007199254740992

+ (65423004882061081215650621571388430732944014123

cos(Th1)

cos(Th2

))/182687704666362864775460604089535377456991567872

- (65423004882061081215650621571388430732944014123

cos(Th1)

cos(Th3

))/182687704666362864775460604089535377456991567872

16210310927856405661316834439721 sin(Th1) sin(Th2)

+ --------------------------------------------------
20282409603651670423947251286016

#21 == (65580384287964744588230398513542208987583003691

cos(Th1

))/365375409332725729550921208179070754913983135744

cos(Th3) #26 16249305912998692073837066972457

- ---------------------------------------------
40564819207303340847894502572032

sin(Th3) #25 4026203041061939

- -----------------------------
4503599627370496

+ (65580384287964744588230398513542208987583003691

cos(Th1)

cos(Th2

))/365375409332725729550921208179070754913983135744

+ (65266003154295042533483952795954524799922879019

cos(Th1)

cos(Th3

))/91343852333181432387730302044767688728495783936

16249305912998692073837066972457 sin(Th1) sin(Th2)

+ --------------------------------------------------
 40564819207303340847894502572032

sin(Th3) #26 4035888341267763

#22 == cos(Th3) #25 - -----------------------------
9007199254740992

16210310927856405661316834439721 cos(Th1) sin(Th3)

+ --------------------------------------------------
20282409603651670423947251286016

#23 == cos(Th1)

4035888341267763 sin(Th1) sin(Th2)

cos(Th2) + ----------------------------------
9007199254740992

#24 == cos(Th1)

4035888341267763 cos(Th2) sin(Th1)

sin(Th2) - ----------------------------------
9007199254740992

4035888341267763 cos(Th1) sin(Th2)

#25 == ----------------------------------
9007199254740992

- cos(Th2) sin(Th1)

4035888341267763 cos(Th1) cos(Th2)

#26 == ----------------------------------
9007199254740992

+ sin(Th1) sin(Th2)